#*******************
#  SPINDLE
#*******************


loadrt scale count=1
addf scale.0 servo-thread
setp scale.0.gain 0.00166
net spindle-speed-scale spindle.0.speed-out => scale.0.in
net spindle-speed-DAC scale.0.out => hm2_7i97.0.pwmgen.05.value


setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true


# --- SPINDLE-ENABLE ---
net spindle-enable  =>     hm2_7i97.0.pwmgen.05.enable

# --- SPINDLE-CW ---
net spindle-cw  =>     hm2_7i97.0.ssr.00.out-01

# --- SPINDLE-CCW ---
net spindle-ccw  =>     hm2_7i97.0.ssr.00.out-02



net spindle-index-enable  => pid.s.index-enable
net spindle-enable        =>  pid.s.enable
net spindle-vel-cmd-rpm     => pid.s.command
net spindle-vel-fb-rpm      => pid.s.feedback
net spindle-output        <=  pid.s.output

# ---setup spindle control signals---


#net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
#net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd      <=  spindle.0.speed-out-abs
#net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable